software code for calculating joint angles from marker cartesiancoordinates?

[Daniel Ferris]

I am looking for sofware code (e.g. matlab) for calculating joint angles from marker cartesian coordinates. The markers were placed on the arms, legs, and trunk and the data include their 3D positions and 3D orientations. Any suggestions or help would be appreciated.
thanks,
df

Dan Ferris, Ph.D.
Associate Professor
Division of Kinesiology
Department of Biomedical Engineering
Department of Physical Medicine and Rehabilitation
University of Michigan
http://www-personal.umich.edu/~ferrisdp/

currently on sabbatical at:
Institute for Neural Computation
UC San Diego
(858) 534-9662

ferrisdp@umich.edu